/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "control.h"
#include "delay.h"
#include "encoder.h"
#include "motor.h"
#include "mpu6050.h"
#include "inv_mpu.h"
#include "myiic.h"
#include "draw_api.h"
#include "pid.h"

#include "queue.h"
#include "semphr.h"

#include <string.h>
#include "stdio.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
extern osMessageQueueId_t Queue_HostHandle;
xUART_TypeDef             xUART3 = {0};
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_USART3_UART_Init();
    MX_I2C1_Init();
    MX_TIM1_Init();
    MX_TIM2_Init();
    MX_TIM4_Init();
    /* USER CODE BEGIN 2 */
    HAL_UARTEx_ReceiveToIdle_DMA(&huart3, xUART3.RxTemp, sizeof(xUART3.RxTemp));
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
    HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);

    delay_init(72);
    delay_ms(100);

    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);

    MPU_Init();
    mpu_dmp_init();

    HAL_NVIC_SetPriority(EXTI9_5_IRQn, 8, 0);
    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

    motor_drive(0, 0);

    InitGraph();
    ClearScreen();


    /* USER CODE END 2 */

    /* Init scheduler */
    osKernelInitialize();

    /* Call init function for freertos objects (in cmsis_os2.c) */
    MX_FREERTOS_Init();

    /* Start scheduler */
    osKernelStart();

    /* We should never get here as control is now taken by the scheduler */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1) {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState       = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL     = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
     */
    RCC_ClkInitStruct.ClockType =
        RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource   = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider  = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef* huart, uint16_t Size)
{
    if (huart == &huart3) {
        __HAL_UNLOCK(&huart3);
        xUART3.RxNum = Size;
        if (xUART3.RxNum == 5) {
            if (xQueueIsQueueFullFromISR(Queue_HostHandle) == pdFALSE) {
                xQueueSendToBackFromISR(Queue_HostHandle,
                                        (void*)xUART3.RxTemp,
                                        NULL);
                
            }

            // if (err == errQUEUE_FULL) {
            //     xQueueReset(Queue_HostHandle);
            // }
        }
        HAL_UARTEx_ReceiveToIdle_DMA(&huart3, xUART3.RxTemp, sizeof(xUART3.RxTemp));
    }
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    // if (GPIO_Pin == HCSR04_ECHO_Pin) {
    // }
    if (GPIO_Pin == MPU6050_INT_Pin) {
        // UBaseType_t uxSaveInterruptStatus;
        // uxSaveInterruptStatus = taskENTER_CRITICAL_FROM_ISR();

        mpu_dmp_get_data(&pitch, &roll, &yaw);   // 获取欧拉角
        MPU_Get_Gyroscope(&gyrox, &gyroy, &gyroz);
        // MPU_Get_Accelerometer(&aacx, &aacy, &aacz);

        // taskEXIT_CRITICAL_FROM_ISR(uxSaveInterruptStatus);
    }
}

/* USER CODE END 4 */

/**
 * @brief  Period elapsed callback in non blocking mode
 * @note   This function is called  when TIM3 interrupt took place, inside
 * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
 * a global variable "uwTick" used as application time base.
 * @param  htim : TIM handle
 * @retval None
 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
{
    /* USER CODE BEGIN Callback 0 */

    /* USER CODE END Callback 0 */
    if (htim->Instance == TIM3) {
        HAL_IncTick();
    }
    /* USER CODE BEGIN Callback 1 */

    /* USER CODE END Callback 1 */
}

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t* file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
